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<div class="title">robust_kernel_impl.h</div>  </div>
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<a href="robust__kernel__impl_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// g2o - General Graph Optimization</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// All rights reserved.</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">// Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// modification, are permitted provided that the following conditions are</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// met:</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">// * Redistributions of source code must retain the above copyright notice,</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">//   this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">// * Redistributions in binary form must reproduce the above copyright</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">//   notice, this list of conditions and the following disclaimer in the</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">//   documentation and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">// IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#ifndef G2O_ROBUST_KERNEL_IMPL_H</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#define G2O_ROBUST_KERNEL_IMPL_H</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="robust__kernel_8h.html">robust_kernel.h</a>&quot;</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceg2o.html">g2o</a> {</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div><div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="classg2o_1_1_robust_kernel_scale_delta.html">   41</a></span>&#160;  <span class="keyword">class  </span><a class="code" href="classg2o_1_1_robust_kernel_scale_delta.html">RobustKernelScaleDelta</a> : <span class="keyword">public</span> <a class="code" href="classg2o_1_1_robust_kernel.html">RobustKernel</a></div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  {</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;      <span class="keyword">explicit</span> <a class="code" href="classg2o_1_1_robust_kernel_scale_delta.html#acffeae7f685e69018f5b0222155a6eb2">RobustKernelScaleDelta</a>(<span class="keyword">const</span> <a class="code" href="namespaceg2o.html#a0802a5e01a6b1861ae01013220dec6ac">RobustKernelPtr</a>&amp; <a class="code" href="classg2o_1_1_robust_kernel_scale_delta.html#a0d7d1119654f6e604609bb5b62e79cf2">kernel</a>, <span class="keywordtype">double</span> <a class="code" href="classg2o_1_1_robust_kernel.html#affb1dacfd8507540281ff3af2ae6eeb8">delta</a> = 1.);</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;      <span class="keyword">explicit</span> <a class="code" href="classg2o_1_1_robust_kernel_scale_delta.html#acffeae7f685e69018f5b0222155a6eb2">RobustKernelScaleDelta</a>(<span class="keywordtype">double</span> <a class="code" href="classg2o_1_1_robust_kernel.html#affb1dacfd8507540281ff3af2ae6eeb8">delta</a> = 1.);</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;</div><div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="classg2o_1_1_robust_kernel_scale_delta.html#a0d7d1119654f6e604609bb5b62e79cf2">   52</a></span>&#160;      <span class="keyword">const</span> <a class="code" href="namespaceg2o.html#a0802a5e01a6b1861ae01013220dec6ac">RobustKernelPtr</a> <a class="code" href="classg2o_1_1_robust_kernel_scale_delta.html#a0d7d1119654f6e604609bb5b62e79cf2">kernel</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classg2o_1_1_robust_kernel_scale_delta.html#a4a2976cb5f12553f0e00dfdf239b1231">_kernel</a>;}</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;      <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_robust_kernel_scale_delta.html#a3bcc51d0cf3127e8c0431d1cddc1c75b">setKernel</a>(<span class="keyword">const</span> <a class="code" href="namespaceg2o.html#a0802a5e01a6b1861ae01013220dec6ac">RobustKernelPtr</a>&amp; ptr);</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;      <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_robust_kernel_scale_delta.html#a97376c3ba35370fa551e899fd5391a2f">robustify</a>(<span class="keywordtype">double</span> error, Eigen::Vector3d&amp; rho) <span class="keyword">const</span>;</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="keyword">protected</span>:</div><div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="classg2o_1_1_robust_kernel_scale_delta.html#a4a2976cb5f12553f0e00dfdf239b1231">   59</a></span>&#160;      <a class="code" href="namespaceg2o.html#a0802a5e01a6b1861ae01013220dec6ac">RobustKernelPtr</a> <a class="code" href="classg2o_1_1_robust_kernel_scale_delta.html#a4a2976cb5f12553f0e00dfdf239b1231">_kernel</a>;</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  };</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;</div><div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="classg2o_1_1_robust_kernel_huber.html">   76</a></span>&#160;  <span class="keyword">class  </span><a class="code" href="classg2o_1_1_robust_kernel_huber.html">RobustKernelHuber</a> : <span class="keyword">public</span> <a class="code" href="classg2o_1_1_robust_kernel.html">RobustKernel</a></div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  {</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_robust_kernel.html#a8d85269635c436fca51324d7cb16a798">setDelta</a>(<span class="keywordtype">double</span> <a class="code" href="classg2o_1_1_robust_kernel.html#affb1dacfd8507540281ff3af2ae6eeb8">delta</a>);</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> setDeltaSqr(<span class="keyword">const</span> <span class="keywordtype">double</span> &amp;delta, <span class="keyword">const</span> <span class="keywordtype">double</span> &amp;deltaSqr);</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_robust_kernel_scale_delta.html#a97376c3ba35370fa551e899fd5391a2f">robustify</a>(<span class="keywordtype">double</span> e2, Eigen::Vector3d&amp; rho) <span class="keyword">const</span>;</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    <span class="keyword">private</span>:</div><div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="classg2o_1_1_robust_kernel_huber.html#ada9d48b59d64f72c18b11905de8dca0d">   84</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classg2o_1_1_robust_kernel_huber.html#ada9d48b59d64f72c18b11905de8dca0d">dsqr</a>;</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  };</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;</div><div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="classg2o_1_1_robust_kernel_tukey.html">   98</a></span>&#160;  <span class="keyword">class  </span><a class="code" href="classg2o_1_1_robust_kernel_tukey.html">RobustKernelTukey</a> : <span class="keyword">public</span> <a class="code" href="classg2o_1_1_robust_kernel.html">RobustKernel</a></div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  {</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> setDeltaSqr(<span class="keyword">const</span> <span class="keywordtype">double</span> &amp;deltaSqr, <span class="keyword">const</span> <span class="keywordtype">double</span> &amp;inv);</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_robust_kernel_scale_delta.html#a97376c3ba35370fa551e899fd5391a2f">robustify</a>(<span class="keywordtype">double</span> e2, Eigen::Vector3d&amp; rho) <span class="keyword">const</span>;</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    <span class="keyword">private</span>:</div><div class="line"><a name="l00105"></a><span class="lineno"><a class="line" href="classg2o_1_1_robust_kernel_tukey.html#a3964d90966fa04e5d8002c1c52bda718">  105</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classg2o_1_1_robust_kernel_tukey.html#a3964d90966fa04e5d8002c1c52bda718">_deltaSqr</a>;</div><div class="line"><a name="l00106"></a><span class="lineno"><a class="line" href="classg2o_1_1_robust_kernel_tukey.html#addca0bfe5d4cafbe0a030c645efd2754">  106</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classg2o_1_1_robust_kernel_tukey.html#addca0bfe5d4cafbe0a030c645efd2754">_invDeltaSqr</a>;</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  };</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;</div><div class="line"><a name="l00121"></a><span class="lineno"><a class="line" href="classg2o_1_1_robust_kernel_pseudo_huber.html">  121</a></span>&#160;  <span class="keyword">class  </span><a class="code" href="classg2o_1_1_robust_kernel_pseudo_huber.html">RobustKernelPseudoHuber</a> : <span class="keyword">public</span> <a class="code" href="classg2o_1_1_robust_kernel.html">RobustKernel</a></div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  {</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_robust_kernel_scale_delta.html#a97376c3ba35370fa551e899fd5391a2f">robustify</a>(<span class="keywordtype">double</span> e2, Eigen::Vector3d&amp; rho) <span class="keyword">const</span>;</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  };</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;</div><div class="line"><a name="l00135"></a><span class="lineno"><a class="line" href="classg2o_1_1_robust_kernel_cauchy.html">  135</a></span>&#160;  <span class="keyword">class  </span><a class="code" href="classg2o_1_1_robust_kernel_cauchy.html">RobustKernelCauchy</a> : <span class="keyword">public</span> <a class="code" href="classg2o_1_1_robust_kernel.html">RobustKernel</a></div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  {</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_robust_kernel_scale_delta.html#a97376c3ba35370fa551e899fd5391a2f">robustify</a>(<span class="keywordtype">double</span> e2, Eigen::Vector3d&amp; rho) <span class="keyword">const</span>;</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  };</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;</div><div class="line"><a name="l00146"></a><span class="lineno"><a class="line" href="classg2o_1_1_robust_kernel_saturated.html">  146</a></span>&#160;  <span class="keyword">class  </span><a class="code" href="classg2o_1_1_robust_kernel_saturated.html">RobustKernelSaturated</a> : <span class="keyword">public</span> <a class="code" href="classg2o_1_1_robust_kernel.html">RobustKernel</a></div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  {</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_robust_kernel_scale_delta.html#a97376c3ba35370fa551e899fd5391a2f">robustify</a>(<span class="keywordtype">double</span> e2, Eigen::Vector3d&amp; rho) <span class="keyword">const</span>;</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  };</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;</div><div class="line"><a name="l00159"></a><span class="lineno"><a class="line" href="classg2o_1_1_robust_kernel_d_c_s.html">  159</a></span>&#160;  <span class="keyword">class  </span><a class="code" href="classg2o_1_1_robust_kernel_d_c_s.html">RobustKernelDCS</a> : <span class="keyword">public</span> <a class="code" href="classg2o_1_1_robust_kernel.html">RobustKernel</a></div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;  {</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_robust_kernel_scale_delta.html#a97376c3ba35370fa551e899fd5391a2f">robustify</a>(<span class="keywordtype">double</span> e2, Eigen::Vector3d&amp; rho) <span class="keyword">const</span>;</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  };</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;} <span class="comment">// end namespace g2o</span></div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="classg2o_1_1_robust_kernel_d_c_s_html"><div class="ttname"><a href="classg2o_1_1_robust_kernel_d_c_s.html">g2o::RobustKernelDCS</a></div><div class="ttdoc">Dynamic covariance scaling - DCS. </div><div class="ttdef"><b>Definition:</b> robust_kernel_impl.h:159</div></div>
<div class="ttc" id="robust__kernel_8h_html"><div class="ttname"><a href="robust__kernel_8h.html">robust_kernel.h</a></div></div>
<div class="ttc" id="classg2o_1_1_robust_kernel_tukey_html"><div class="ttname"><a href="classg2o_1_1_robust_kernel_tukey.html">g2o::RobustKernelTukey</a></div><div class="ttdoc">Tukey Cost Function. </div><div class="ttdef"><b>Definition:</b> robust_kernel_impl.h:98</div></div>
<div class="ttc" id="classg2o_1_1_robust_kernel_scale_delta_html_a4a2976cb5f12553f0e00dfdf239b1231"><div class="ttname"><a href="classg2o_1_1_robust_kernel_scale_delta.html#a4a2976cb5f12553f0e00dfdf239b1231">g2o::RobustKernelScaleDelta::_kernel</a></div><div class="ttdeci">RobustKernelPtr _kernel</div><div class="ttdef"><b>Definition:</b> robust_kernel_impl.h:59</div></div>
<div class="ttc" id="classg2o_1_1_robust_kernel_tukey_html_addca0bfe5d4cafbe0a030c645efd2754"><div class="ttname"><a href="classg2o_1_1_robust_kernel_tukey.html#addca0bfe5d4cafbe0a030c645efd2754">g2o::RobustKernelTukey::_invDeltaSqr</a></div><div class="ttdeci">float _invDeltaSqr</div><div class="ttdef"><b>Definition:</b> robust_kernel_impl.h:106</div></div>
<div class="ttc" id="classg2o_1_1_robust_kernel_scale_delta_html_a0d7d1119654f6e604609bb5b62e79cf2"><div class="ttname"><a href="classg2o_1_1_robust_kernel_scale_delta.html#a0d7d1119654f6e604609bb5b62e79cf2">g2o::RobustKernelScaleDelta::kernel</a></div><div class="ttdeci">const RobustKernelPtr kernel() const</div><div class="ttdoc">return the underlying kernel </div><div class="ttdef"><b>Definition:</b> robust_kernel_impl.h:52</div></div>
<div class="ttc" id="classg2o_1_1_robust_kernel_html_a8d85269635c436fca51324d7cb16a798"><div class="ttname"><a href="classg2o_1_1_robust_kernel.html#a8d85269635c436fca51324d7cb16a798">g2o::RobustKernel::setDelta</a></div><div class="ttdeci">virtual void setDelta(double delta)</div><div class="ttdoc">set the window size of the error. </div><div class="ttdef"><b>Definition:</b> robust_kernel.cpp:41</div></div>
<div class="ttc" id="classg2o_1_1_robust_kernel_cauchy_html"><div class="ttname"><a href="classg2o_1_1_robust_kernel_cauchy.html">g2o::RobustKernelCauchy</a></div><div class="ttdoc">Cauchy cost function. </div><div class="ttdef"><b>Definition:</b> robust_kernel_impl.h:135</div></div>
<div class="ttc" id="namespaceg2o_html"><div class="ttname"><a href="namespaceg2o.html">g2o</a></div><div class="ttdef"><b>Definition:</b> base_binary_edge.h:37</div></div>
<div class="ttc" id="classg2o_1_1_robust_kernel_scale_delta_html_a97376c3ba35370fa551e899fd5391a2f"><div class="ttname"><a href="classg2o_1_1_robust_kernel_scale_delta.html#a97376c3ba35370fa551e899fd5391a2f">g2o::RobustKernelScaleDelta::robustify</a></div><div class="ttdeci">void robustify(double error, Eigen::Vector3d &amp;rho) const</div><div class="ttdoc">compute the scaling factor for a error: The error is e^T Omega e The output rho is rho[0]: The actual...</div><div class="ttdef"><b>Definition:</b> robust_kernel_impl.cpp:50</div></div>
<div class="ttc" id="classg2o_1_1_robust_kernel_pseudo_huber_html"><div class="ttname"><a href="classg2o_1_1_robust_kernel_pseudo_huber.html">g2o::RobustKernelPseudoHuber</a></div><div class="ttdoc">Pseudo Huber Cost Function. </div><div class="ttdef"><b>Definition:</b> robust_kernel_impl.h:121</div></div>
<div class="ttc" id="classg2o_1_1_robust_kernel_scale_delta_html"><div class="ttname"><a href="classg2o_1_1_robust_kernel_scale_delta.html">g2o::RobustKernelScaleDelta</a></div><div class="ttdoc">scale a robust kernel to another delta (window size) </div><div class="ttdef"><b>Definition:</b> robust_kernel_impl.h:41</div></div>
<div class="ttc" id="classg2o_1_1_robust_kernel_tukey_html_a3964d90966fa04e5d8002c1c52bda718"><div class="ttname"><a href="classg2o_1_1_robust_kernel_tukey.html#a3964d90966fa04e5d8002c1c52bda718">g2o::RobustKernelTukey::_deltaSqr</a></div><div class="ttdeci">float _deltaSqr</div><div class="ttdef"><b>Definition:</b> robust_kernel_impl.h:105</div></div>
<div class="ttc" id="classg2o_1_1_robust_kernel_html_affb1dacfd8507540281ff3af2ae6eeb8"><div class="ttname"><a href="classg2o_1_1_robust_kernel.html#affb1dacfd8507540281ff3af2ae6eeb8">g2o::RobustKernel::delta</a></div><div class="ttdeci">double delta() const</div><div class="ttdef"><b>Definition:</b> robust_kernel.h:72</div></div>
<div class="ttc" id="classg2o_1_1_robust_kernel_html"><div class="ttname"><a href="classg2o_1_1_robust_kernel.html">g2o::RobustKernel</a></div><div class="ttdoc">base for all robust cost functions </div><div class="ttdef"><b>Definition:</b> robust_kernel.h:51</div></div>
<div class="ttc" id="classg2o_1_1_robust_kernel_huber_html_ada9d48b59d64f72c18b11905de8dca0d"><div class="ttname"><a href="classg2o_1_1_robust_kernel_huber.html#ada9d48b59d64f72c18b11905de8dca0d">g2o::RobustKernelHuber::dsqr</a></div><div class="ttdeci">float dsqr</div><div class="ttdef"><b>Definition:</b> robust_kernel_impl.h:84</div></div>
<div class="ttc" id="classg2o_1_1_robust_kernel_saturated_html"><div class="ttname"><a href="classg2o_1_1_robust_kernel_saturated.html">g2o::RobustKernelSaturated</a></div><div class="ttdoc">Saturated cost function. </div><div class="ttdef"><b>Definition:</b> robust_kernel_impl.h:146</div></div>
<div class="ttc" id="namespaceg2o_html_a0802a5e01a6b1861ae01013220dec6ac"><div class="ttname"><a href="namespaceg2o.html#a0802a5e01a6b1861ae01013220dec6ac">g2o::RobustKernelPtr</a></div><div class="ttdeci">std::tr1::shared_ptr&lt; RobustKernel &gt; RobustKernelPtr</div><div class="ttdef"><b>Definition:</b> robust_kernel.h:77</div></div>
<div class="ttc" id="classg2o_1_1_robust_kernel_scale_delta_html_a3bcc51d0cf3127e8c0431d1cddc1c75b"><div class="ttname"><a href="classg2o_1_1_robust_kernel_scale_delta.html#a3bcc51d0cf3127e8c0431d1cddc1c75b">g2o::RobustKernelScaleDelta::setKernel</a></div><div class="ttdeci">void setKernel(const RobustKernelPtr &amp;ptr)</div><div class="ttdoc">use another kernel for the underlying operation </div><div class="ttdef"><b>Definition:</b> robust_kernel_impl.cpp:45</div></div>
<div class="ttc" id="classg2o_1_1_robust_kernel_huber_html"><div class="ttname"><a href="classg2o_1_1_robust_kernel_huber.html">g2o::RobustKernelHuber</a></div><div class="ttdoc">Huber Cost Function. </div><div class="ttdef"><b>Definition:</b> robust_kernel_impl.h:76</div></div>
<div class="ttc" id="classg2o_1_1_robust_kernel_scale_delta_html_acffeae7f685e69018f5b0222155a6eb2"><div class="ttname"><a href="classg2o_1_1_robust_kernel_scale_delta.html#acffeae7f685e69018f5b0222155a6eb2">g2o::RobustKernelScaleDelta::RobustKernelScaleDelta</a></div><div class="ttdeci">RobustKernelScaleDelta(const RobustKernelPtr &amp;kernel, double delta=1.)</div><div class="ttdoc">construct the scaled kernel ontop of another kernel which might be shared accross several scaled kern...</div><div class="ttdef"><b>Definition:</b> robust_kernel_impl.cpp:34</div></div>
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